Journal ArticleDOI
Frequency-Domain Analysis of Nonlinear Active Disturbance Rejection Control via the Describing Function Method
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TLDR
The analysis results show that the nonlinearity parameter plays a crucial role in the system performance and has higher control efficiency than the linear ADRC but reduces the stability margin of the system.Abstract:
Active disturbance rejection control (ADRC) is a new design concept that shows promising power in dealing with the uncertainties of control systems. However, most of the previous work has been numerical time-domain development and frequency-domain analysis for the linear framework. This paper focuses on the frequency-domain analysis of the nonlinear ADRC behavior using the describing function method and characterizes the effect of the ${\rm fal}$ nonlinearity parameter on the performance of the closed-loop system. Both the describing function of the nonlinearity and the transfer function description of the system's linear portion are derived. The stability, dynamic stiffness, and tracking performance are analyzed for a second-order single-input single-output plant. The analysis results show that the nonlinearity parameter plays a crucial role in the system performance. The nonlinear ADRC has higher control efficiency than the linear ADRC but reduces the stability margin of the system. Using the fast tool servo case, simulations and hardware experiments are conducted, and the results further support the analysis.read more
Citations
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Journal ArticleDOI
Extended-State-Observer-Based Output Feedback Nonlinear Robust Control of Hydraulic Systems With Backstepping
TL;DR: The proposed controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy, while achieving asymptotic tracking performance in the absence of time-varying uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems.
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Adaptive Robust Control of DC Motors With Extended State Observer
TL;DR: In this paper, a practical method named adaptive robust control with extended state observer (ESO) is synthesized for high-accuracy motion control of a dc motor via a feedforward cancellation technique and theoretically guarantees a prescribed tracking performance in the presence of various uncertainties.
Journal ArticleDOI
Lateral Path Tracking Control of Autonomous Land Vehicle Based on ADRC and Differential Flatness
TL;DR: This paper presents a tracking control method for the lateral motion of an autonomous land vehicle (ALV) based on active disturbance rejection control (ADRC) scheme and differential flatness theory, and the flatness of the linear model is proved and a flat output is found.
Journal ArticleDOI
Active Disturbance Rejection Control for a Flywheel Energy Storage System
TL;DR: This paper presents the application of the Active Disturbance Rejection Control Technique (ADRCT) to improve the performance of a Flywheel Energy Storage System (FESS) and shows that the new controller is more robust and more adaptive.
Journal ArticleDOI
Application of Linear Active Disturbance Rejection Controller for Sensorless Control of Internal Permanent-Magnet Synchronous Motor
TL;DR: In this paper, a linear active disturbance rejection controller is applied for sensorless control of internal permanent-magnet synchronous motors and a hybrid position estimation strategy combining the high-frequency current injection for low-speed region with the electromotive force estimation for high-speed area is presented.
References
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Journal ArticleDOI
From PID to Active Disturbance Rejection Control
TL;DR: Active disturbance rejection control is proposed, which is motivated by the ever increasing demands from industry that requires the control technology to move beyond PID, and may very well break the hold of classical PID and enter a new era of innovations.
Proceedings ArticleDOI
Scaling and bandwidth-parameterization based controller tuning
TL;DR: A new set of tools, including controller scaling, controller parameterization and practical optimization, is presented to standardize controller tuning, which moves controller tuning in the direction of science.
Proceedings ArticleDOI
Active disturbance rejection control: a paradigm shift in feedback control system design
TL;DR: In this paper, it is shown that the unknown dynamics and disturbance can be actively estimated and compensated in real time and this makes the feedback control more robust and less dependent on the detailed mathematical model of the physical process.
Journal ArticleDOI
On the convergence of an extended state observer for nonlinear systems with uncertainty
Bao-Zhu Guo,Zhi-Liang Zhao +1 more
TL;DR: The main idea is to transform the error equation of objective system with its extended state observer into a asymptotical stable system with a small disturbance, for which the effect of total disturbance error is eliminated by the high-gain.
Journal ArticleDOI
Speed Control for PMSM Servo System Using Predictive Functional Control and Extended State Observer
Huixian Liu,Shihua Li +1 more
TL;DR: The speed regulation problem for permanent magnet synchronous motor (PMSM) servo system is studied and an improved PFC method, called the PFC+ESO method, is developed, which introduces extended state observer (ESO) to estimate the lumped disturbances and adds a feedforward compensation item based on the estimated disturbances to the P FC speed controller.